leg position controller

[GoogleCodeExporter]

I would like to have a controller and GUI to PD control positions for both hips 
and legs independently.

The GUI should allow to select

- hip angle l/r
- hip gains l/r

- leg position l/r
- leg angle l/r
- leg gains l/r

and the controller should include a smooth initialisation.

Original issue reported on code.google.com by tra...@gmail.com on 22 Jan 2013 at 7:17

[GoogleCodeExporter]

I have created an atc_joint_position and will start working on that

Original comment by tra...@gmail.com on 25 Jan 2013 at 8:52

[GoogleCodeExporter]

I am working on this now.

Original comment by tra...@gmail.com on 25 Jan 2013 at 9:48

• Changed state: Started

[GoogleCodeExporter]

[atrias_control_rosnode-1] process has died [pid 11377, exit code 134, cmd 
/home/drl/ROS/orocos_toolchain/ocl/bin/deployer -l info -s 
/home/drl/ROS/atrias/software/atrias_sim_conn/simConn.ops -s 
/home/drl/ROS/atrias/software/atrias_controller_manager/controller_manager.ops 
-s /home/drl/ROS/atrias/software/atrias/control_system.ops -- 
__name:=atrias_control_rosnode 
__log:=/home/drl/.ros/log/7a003b7a-6969-11e2-b44d-e0cb4e494d54/atrias_control_ro
snode-1.log].
log file: 
/home/drl/.ros/log/7a003b7a-6969-11e2-b44d-e0cb4e494d54/atrias_control_rosnode-1
*.log

Original comment by tra...@gmail.com on 28 Jan 2013 at 6:13

• Changed state: Done